time_processor.h

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#ifndef MESSAGE_RELAY_PROCESSOR_TIME_PROCESSOR_H
#define MESSAGE_RELAY_PROCESSOR_TIME_PROCESSOR_H

#include "ros/ros.h"

#include <boost/unordered_map.hpp>
#include <string>
#include <vector>

namespace message_relay
{

class TimeProcessor
{
public:
  typedef boost::shared_ptr<const TimeProcessor> ConstPtr;

  enum Operation
  {
    NONE, ADD_OFFSET, REMOVE_OFFSET
  };

  static ConstPtr create(std::string offset_operation_string, ros::Duration offset = ros::Duration(0.0));

  static ConstPtr create(Operation offset_operation, ros::Duration offset = ros::Duration(0.0));

  void process(ros::Time &time) const;

  static ConstPtr inverse(const ConstPtr &processor);

private:
  TimeProcessor(Operation offset_operation, ros::Duration offset);

  static const boost::unordered_map<std::string, Operation> operation_name_map_;
  static const boost::unordered_map<Operation, Operation> operation_inverse_map_;

  Operation offset_operation_;
  ros::Duration offset_;
};

}  // namespace message_relay

#endif  // MESSAGE_RELAY_PROCESSOR_TIME_PROCESSOR_H